###############################################################################

# "THE BEER-WARE LICENSE" (Revision 42):

# <[email protected]> wrote this file. As long as you retain this notice you

# can do whatever you want with this stuff. If we meet some day, and you think

# this stuff is worth it, you can buy me a beer in return

###############################################################################

#

# Makefile for building the betaflight firmware.

#

# Invoke this with 'make help' to see the list of supported targets.

#

###############################################################################

# Things that the user might override on the commandline

#

# The target to build, see BASE_TARGETS below

DEFAULT_TARGET ?= STM32F405

TARGET ?=

CONFIG ?=

# Compile-time options

OPTIONS ?=

# compile for External Storage Bootloader support

EXST ?= no

# compile for target loaded into RAM

RAM_BASED ?= no

# reserve space for custom defaults

CUSTOM_DEFAULTS_EXTENDED ?= no

# Debugger optons:

# empty - ordinary build with all optimizations enabled

# INFO - ordinary build with debug symbols and all optimizations enabled. Only builds touched files.

# GDB - debug build with minimum number of optimizations

DEBUG ?=

# Insert the debugging hardfault debugger

# releases should not be built with this flag as it does not disable pwm output

DEBUG_HARDFAULTS ?=

# Serial port/Device for flashing

SERIAL_DEVICE ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))

# Flash size (KB). Some low-end chips actually have more flash than advertised, use this to override.

FLASH_SIZE ?=

###############################################################################

# Things that need to be maintained as the source changes

#

FORKNAME = betaflight

# Working directories

ROOT := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))

PLATFORM_DIR := $(ROOT)/src/platform

SRC_DIR := $(ROOT)/src/main

LIB_MAIN_DIR := $(ROOT)/lib/main

OBJECT_DIR := $(ROOT)/obj/main

BIN_DIR := $(ROOT)/obj

CMSIS_DIR := $(ROOT)/lib/main/CMSIS

INCLUDE_DIRS := $(SRC_DIR)

MAKE_SCRIPT_DIR := $(ROOT)/mk

## V : Set verbosity level based on the V= parameter

## V=0 Low

## V=1 High

include $(MAKE_SCRIPT_DIR)/build_verbosity.mk

# Build tools, so we all share the same versions

# import macros common to all supported build systems

include $(MAKE_SCRIPT_DIR)/system-id.mk

# developer preferences, edit these at will, they'll be gitignored

ifneq ($(wildcard $(MAKE_SCRIPT_DIR)/local.mk),)

include $(MAKE_SCRIPT_DIR)/local.mk

endif

# some targets use parallel build by default

# MAKEFLAGS is valid only inside target, do not use this at parse phase

DEFAULT_PARALLEL_JOBS := # all jobs in parallel (for backward compatibility)

MAKE_PARALLEL = $(if $(filter -j%, $(MAKEFLAGS)),$(EMPTY),-j$(DEFAULT_PARALLEL_JOBS))

# pre-build sanity checks

include $(MAKE_SCRIPT_DIR)/checks.mk

# basic target list

PLATFORMS := $(sort $(notdir $(patsubst /%,%, $(wildcard $(PLATFORM_DIR)/*))))

BASE_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/target.mk)))))

# configure some directories that are relative to wherever ROOT_DIR is located

TOOLS_DIR ?= $(ROOT)/tools

DL_DIR := $(ROOT)/downloads

CONFIG_DIR ?= $(BETAFLIGHT_CONFIG)

ifeq ($(CONFIG_DIR),)

CONFIG_DIR := $(ROOT)/src/config

endif

DIRECTORIES := $(DL_DIR) $(TOOLS_DIR)

export RM := rm

# import macros that are OS specific

include $(MAKE_SCRIPT_DIR)/$(OSFAMILY).mk

# include the tools makefile

include $(MAKE_SCRIPT_DIR)/tools.mk

# Search path for sources

VPATH := $(SRC_DIR):$(LIB_MAIN_DIR):$(PLATFORM_DIR)

FATFS_DIR = $(ROOT)/lib/main/FatFS

FATFS_SRC = $(notdir $(wildcard $(FATFS_DIR)/*.c))

CSOURCES := $(shell find $(SRC_DIR) -name '*.c')

FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )

FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )

FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )

FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)

# import config handling

include $(MAKE_SCRIPT_DIR)/config.mk

ifeq ($(CONFIG),)

ifeq ($(TARGET),)

TARGET := $(DEFAULT_TARGET)

SKIPCHECKS := yes

endif

endif

# default xtal value

HSE_VALUE ?= 8000000

CI_EXCLUDED_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/.exclude)))))

CI_TARGETS := $(filter-out $(CI_EXCLUDED_TARGETS), $(BASE_TARGETS)) $(filter STM32F4DISCOVERY CRAZYBEEF4SX1280 CRAZYBEEF4FR IFLIGHT_BLITZ_F722 NUCLEOF446 SPRACINGH7EXTREME SPRACINGH7RF, $(BASE_CONFIGS))

TARGET_PLATFORM := $(notdir $(patsubst %/,%,$(subst target/$(TARGET)/,, $(dir $(wildcard $(PLATFORM_DIR)/*/target/$(TARGET)/target.mk)))))

TARGET_PLATFORM_DIR := $(PLATFORM_DIR)/$(TARGET_PLATFORM)

LINKER_DIR := $(TARGET_PLATFORM_DIR)/link

include $(TARGET_PLATFORM_DIR)/target/$(TARGET)/target.mk

REVISION := norevision

ifeq ($(shell git diff --shortstat),)

REVISION := $(shell git log -1 --format="%h")

endif

LD_FLAGS :=

EXTRA_LD_FLAGS :=

#

# Default Tool options - can be overridden in {mcu}.mk files.

#

DEBUG_MIXED = no

ifeq ($(DEBUG),INFO)

DEBUG_MIXED = yes

endif

ifeq ($(DEBUG),GDB)

DEBUG_MIXED = yes

endif

ifeq ($(DEBUG),GDB)

OPTIMISE_DEFAULT := -Og

LTO_FLAGS := $(OPTIMISE_DEFAULT)

DEBUG_FLAGS = -ggdb2 -gdwarf-5 -DDEBUG

else

ifeq ($(DEBUG),INFO)

DEBUG_FLAGS = -ggdb2

endif

OPTIMISATION_BASE := -flto=auto -fuse-linker-plugin -ffast-math -fmerge-all-constants

OPTIMISE_DEFAULT := -O2

OPTIMISE_SPEED := -Ofast

OPTIMISE_SIZE := -Os

LTO_FLAGS := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)

endif

VPATH := $(VPATH):$(MAKE_SCRIPT_DIR)

# start specific includes

ifeq ($(TARGET_MCU),)

$(error No TARGET_MCU specified. Is the target.mk valid for $(TARGET)?)

endif

ifeq ($(TARGET_MCU_FAMILY),)

$(error No TARGET_MCU_FAMILY specified. Is the target.mk valid for $(TARGET)?)

endif

TARGET_FLAGS := -D$(TARGET) -D$(TARGET_PLATFORM) -D$(TARGET_MCU_FAMILY) $(TARGET_FLAGS)

ifneq ($(CONFIG),)

TARGET_FLAGS := $(TARGET_FLAGS) -DUSE_CONFIG

endif

SPEED_OPTIMISED_SRC :=

SIZE_OPTIMISED_SRC :=

include $(TARGET_PLATFORM_DIR)/mk/$(TARGET_MCU_FAMILY).mk

# openocd specific includes

include $(MAKE_SCRIPT_DIR)/openocd.mk

# Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.

ifeq ($(TARGET_FLASH_SIZE),)

ifneq ($(MCU_FLASH_SIZE),)

TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)

else

$(error MCU_FLASH_SIZE not configured for target $(TARGET))

endif

endif

DEVICE_FLAGS := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)

ifneq ($(HSE_VALUE),)

DEVICE_FLAGS := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)

endif

TARGET_DIR = $(TARGET_PLATFORM_DIR)/target/$(TARGET)

.DEFAULT_GOAL := hex

INCLUDE_DIRS := $(INCLUDE_DIRS) \

$(ROOT)/lib/main/MAVLink

INCLUDE_DIRS := $(INCLUDE_DIRS) \

$(TARGET_DIR)

VPATH := $(VPATH):$(TARGET_DIR)

include $(MAKE_SCRIPT_DIR)/source.mk

ifneq ($(SKIPCHECKS),yes)

ifneq ($(filter-out $(SRC),$(SPEED_OPTIMISED_SRC)),)

$(error Speed optimised sources not valid: $(strip $(filter-out $(SRC),$(SPEED_OPTIMISED_SRC))))

endif

ifneq ($(filter-out $(SRC),$(SIZE_OPTIMISED_SRC)),)

$(error Size optimised sources not valid: $(strip $(filter-out $(SRC),$(SIZE_OPTIMISED_SRC))))

endif

endif

###############################################################################

# Things that might need changing to use different tools

#

# Find out if ccache is installed on the system

CCACHE := ccache

RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )

ifneq ($(RESULT),0)

CCACHE :=

endif

# Tool names

CROSS_CC := $(CCACHE) $(ARM_SDK_PREFIX)gcc

CROSS_CXX := $(CCACHE) $(ARM_SDK_PREFIX)g++

CROSS_GDB := $(ARM_SDK_PREFIX)gdb

OBJCOPY := $(ARM_SDK_PREFIX)objcopy

OBJDUMP := $(ARM_SDK_PREFIX)objdump

READELF := $(ARM_SDK_PREFIX)readelf

SIZE := $(ARM_SDK_PREFIX)size

DFUSE-PACK := src/utils/dfuse-pack.py

#

# Tool options.

#

CC_DEBUG_OPTIMISATION := $(OPTIMISE_DEFAULT)

CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)

CC_SPEED_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)

CC_SIZE_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)

CC_NO_OPTIMISATION :=

#

# Added after GCC version update, remove once the warnings have been fixed

#

TEMPORARY_FLAGS :=

EXTRA_WARNING_FLAGS := -Wold-style-definition

CFLAGS += $(ARCH_FLAGS) \

$(addprefix -D,$(OPTIONS)) \

$(addprefix -I,$(INCLUDE_DIRS)) \

$(DEBUG_FLAGS) \

-std=gnu17 \

-Wall -Wextra -Werror -Wunsafe-loop-optimizations -Wdouble-promotion \

$(EXTRA_WARNING_FLAGS) \

-ffunction-sections \

-fdata-sections \

-fno-common \

$(TEMPORARY_FLAGS) \

$(DEVICE_FLAGS) \

-D_GNU_SOURCE \

-DUSE_STDPERIPH_DRIVER \

-D$(TARGET) \

$(TARGET_FLAGS) \

-D'__FORKNAME__="$(FORKNAME)"' \

-D'__TARGET__="$(TARGET)"' \

-D'__REVISION__="$(REVISION)"' \

$(CONFIG_REVISION_DEFINE) \

-pipe \

-MMD -MP \

$(EXTRA_FLAGS)

ASFLAGS = $(ARCH_FLAGS) \

$(DEBUG_FLAGS) \

-x assembler-with-cpp \

$(addprefix -I,$(INCLUDE_DIRS)) \

-MMD -MP

ifeq ($(LD_FLAGS),)

LD_FLAGS = -lm \

-nostartfiles \

--specs=nano.specs \

-lc \

-lnosys \

$(ARCH_FLAGS) \

$(LTO_FLAGS) \

$(DEBUG_FLAGS) \

-static \

-Wl,-gc-sections,-Map,$(TARGET_MAP) \

-Wl,-L$(LINKER_DIR) \

-Wl,--cref \

-Wl,--no-wchar-size-warning \

-Wl,--print-memory-usage \

-T$(LD_SCRIPT) \

$(EXTRA_LD_FLAGS)

endif

###############################################################################

# No user-serviceable parts below

###############################################################################

CPPCHECK = cppcheck $(CSOURCES) --enable=all --platform=unix64 \

--std=c99 --inline-suppr --quiet --force \

$(addprefix -I,$(INCLUDE_DIRS)) \

-I/usr/include -I/usr/include/linux

TARGET_NAME := $(TARGET)

ifneq ($(CONFIG),)

TARGET_NAME := $(TARGET_NAME)_$(CONFIG)

endif

ifeq ($(REV),yes)

TARGET_NAME := $(TARGET_NAME)_$(REVISION)

endif

TARGET_FULLNAME = $(FORKNAME)_$(FC_VER)_$(TARGET_NAME)

#

# Things we will build

#

TARGET_BIN = $(BIN_DIR)/$(TARGET_FULLNAME).bin

TARGET_HEX = $(BIN_DIR)/$(TARGET_FULLNAME).hex

TARGET_DFU = $(BIN_DIR)/$(TARGET_FULLNAME).dfu

TARGET_ZIP = $(BIN_DIR)/$(TARGET_FULLNAME).zip

TARGET_OBJ_DIR = $(OBJECT_DIR)/$(TARGET_NAME)

TARGET_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf

TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf

TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin

TARGET_LST = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst

TARGET_OBJS = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))

TARGET_DEPS = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))

TARGET_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map

TARGET_EXST_HASH_SECTION_FILE = $(TARGET_OBJ_DIR)/exst_hash_section.bin

ifeq ($(DEBUG_MIXED),yes)

TARGET_EF_HASH := $(shell echo -n -- "$(EXTRA_FLAGS)" "$(OPTIONS)" "$(DEVICE_FLAGS)" "$(TARGET_FLAGS)" | openssl dgst -md5 -r | awk '{print $$1;}')

else

TARGET_EF_HASH := $(shell echo -n -- "$(EXTRA_FLAGS)" "$(OPTIONS)" "$(DEBUG_FLAGS)" "$(DEVICE_FLAGS)" "$(TARGET_FLAGS)" | openssl dgst -md5 -r | awk '{print $$1;}')

endif

TARGET_EF_HASH_FILE := $(TARGET_OBJ_DIR)/.efhash_$(TARGET_EF_HASH)

CLEAN_ARTIFACTS := $(TARGET_BIN)

CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)

CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)

CLEAN_ARTIFACTS += $(TARGET_LST)

CLEAN_ARTIFACTS += $(TARGET_DFU)

# Make sure build date and revision is updated on every incremental build

$(TARGET_OBJ_DIR)/build/version.o : $(SRC)

# List of buildable ELF files and their object dependencies.

# It would be nice to compute these lists, but that seems to be just beyond make.

$(TARGET_LST): $(TARGET_ELF)

$(V0) $(OBJDUMP) -S --disassemble $< > $@

ifeq ($(EXST),no)

$(TARGET_BIN): $(TARGET_ELF)

@echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"

$(V1) $(OBJCOPY) -O binary $< $@

$(TARGET_HEX): $(TARGET_ELF)

@echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"

$(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@

$(TARGET_DFU): $(TARGET_HEX)

@echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"

$(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@

else

CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)

$(TARGET_UNPATCHED_BIN): $(TARGET_ELF)

@echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"

$(V1) $(OBJCOPY) -O binary $< $@

$(TARGET_BIN): $(TARGET_UNPATCHED_BIN)

@echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"

# Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.

# These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.

$(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)

$(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc

@echo "Generating MD5 hash of binary" "$(STDOUT)"

$(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5

@echo "Patching MD5 hash into binary" "$(STDOUT)"

$(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)

$(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd

# Note: From the objcopy manual "If you do not specify outfile, objcopy creates a temporary file and destructively renames the result with the name of infile"

# Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.

# If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in

# a) regeneration of $(TARGET_BIN), and

# b) the results of $(TARGET_BIN) will not be as expected.

@echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"

$(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash

rm $(TARGET_EXST_ELF).tmp

@echo "Patching MD5 hash into HASH section" "$(STDOUT)"

$(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)

$(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"

$(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)

$(V1) $(READELF) -S $(TARGET_EXST_ELF)

$(V1) $(READELF) -l $(TARGET_EXST_ELF)

$(TARGET_HEX): $(TARGET_BIN)

$(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))

@echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"

$(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@

endif

$(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)

@echo "Linking $(TARGET_NAME)" "$(STDOUT)"

$(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)

$(V1) $(SIZE) $(TARGET_ELF)

# Compile

## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag

define compile_file

echo "%% ($(1)) $<" "$(STDOUT)" && \

$(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<

endef

## `paths` is a list of paths that will be replaced for checking of speed, and size optimised sources

paths := $(SRC_DIR)/ $(LIB_MAIN_DIR)/ $(PLATFORM_DIR)/

subst_paths_for = $(foreach path,$(paths),$(filter-out $(1),$(subst $(path),,$(1))))

subst_paths = $(strip $(if $(call subst_paths_for,$(1)), $(call subst_paths_for,$(1)), $(1)))

ifeq ($(DEBUG),GDB)

$(TARGET_OBJ_DIR)/%.o: %.c

$(V1) mkdir -p $(dir $@)

$(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \

$(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \

, \

$(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \

)

else

$(TARGET_OBJ_DIR)/%.o: %.c

$(V1) mkdir -p $(dir $@)

$(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \

$(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \

, \

$(if $(findstring $(call subst_paths,$<),$(SPEED_OPTIMISED_SRC)), \

$(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \

, \

$(if $(findstring $(call subst_paths,$<),$(SIZE_OPTIMISED_SRC)), \

$(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \

, \

$(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \

) \

) \

)

endif

# Assemble

$(TARGET_OBJ_DIR)/%.o: %.s

$(V1) mkdir -p $(dir $@)

@echo "%% $(notdir $<)" "$(STDOUT)"

$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<

$(TARGET_OBJ_DIR)/%.o: %.S

$(V1) mkdir -p $(dir $@)

@echo "%% $(notdir $<)" "$(STDOUT)"

$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<

## all : Build all currently built targets

all: $(CI_TARGETS)

$(BASE_TARGETS):

$(V0) @echo "Building target $@" && \

$(MAKE) hex TARGET=$@ && \

echo "Building $@ succeeded."

TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS))

CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))

## clean : clean up temporary / machine-generated files

clean:

@echo "Cleaning $(TARGET_NAME)"

$(V0) rm -f $(CLEAN_ARTIFACTS)

$(V0) rm -rf $(TARGET_OBJ_DIR)

@echo "Cleaning $(TARGET_NAME) succeeded."

## test_clean : clean up temporary / machine-generated files (tests)

test-%_clean:

$(MAKE) test_clean

test_clean:

$(V0) cd src/test && $(MAKE) clean || true

## <TARGET>_clean : clean up one specific target (alias for above)

$(TARGETS_CLEAN):

$(V0) $(MAKE) $(MAKE_PARALLEL) TARGET=$(subst _clean,,$@) clean

## <CONFIG>_clean : clean up one specific target (alias for above)

$(CONFIGS_CLEAN):

$(V0) $(MAKE) $(MAKE_PARALLEL) CONFIG=$(subst _clean,,$@) clean

## clean_all : clean all targets

clean_all: $(TARGETS_CLEAN) test_clean

## all_configs : Build all configs

all_configs: $(BASE_CONFIGS)

TARGETS_FLASH = $(addsuffix _flash,$(BASE_TARGETS))

## <TARGET>_flash : build and flash a target

$(TARGETS_FLASH):

$(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)

ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))

$(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)

else

$(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)

endif

## tty_flash : flash firmware (.hex) onto flight controller via a serial port

tty_flash:

$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon

$(V0) echo -n 'R' > $(SERIAL_DEVICE)

$(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)

## dfu_flash : flash firmware (.bin) onto flight controller via a DFU mode

dfu_flash:

ifneq (no-port-found,$(SERIAL_DEVICE))

# potentially this is because the MCU already is in DFU mode, try anyway

$(V0) echo -n 'R' > $(SERIAL_DEVICE)

$(V0) sleep 1

endif

$(V0) $(MAKE) $(TARGET_DFU)

$(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave

st-flash_$(TARGET): $(TARGET_BIN)

$(V0) st-flash --reset write $< 0x08000000

## st-flash : flash firmware (.bin) onto flight controller

st-flash: st-flash_$(TARGET)

ifneq ($(OPENOCD_COMMAND),)

openocd-gdb: $(TARGET_ELF)

$(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"

endif

TARGETS_ZIP = $(addsuffix _zip,$(BASE_TARGETS))

## <TARGET>_zip : build target and zip it (useful for posting to GitHub)

$(TARGETS_ZIP):

$(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)

$(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)

zip:

$(V0) zip $(TARGET_ZIP) $(TARGET_HEX)

binary:

$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_BIN)

hex:

$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_HEX)

TARGETS_REVISION = $(addsuffix _rev,$(BASE_TARGETS))

## <TARGET>_rev : build target and add revision to filename

$(TARGETS_REVISION):

$(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)

all_rev: $(addsuffix _rev,$(CI_TARGETS))

unbrick_$(TARGET): $(TARGET_HEX)

$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon

$(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)

## unbrick : unbrick flight controller

unbrick: unbrick_$(TARGET)

## cppcheck : run static analysis on C source code

cppcheck: $(CSOURCES)

$(V0) $(CPPCHECK)

cppcheck-result.xml: $(CSOURCES)

$(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml

# mkdirs

$(DIRECTORIES):

mkdir -p $@

## version : print firmware version

version:

@echo $(FC_VER)

## help : print this help message and exit

help: Makefile mk/tools.mk

@echo ""

@echo "Makefile for the $(FORKNAME) firmware"

@echo ""

@echo "Usage:"

@echo " make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"

@echo "Or:"

@echo " make <target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"

@echo "Or:"

@echo " make <config-target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"

@echo ""

@echo "To pupulate configuration targets:"

@echo " make configs"

@echo ""

@echo "Valid TARGET values are: $(BASE_TARGETS)"

@echo ""

@sed -n 's/^## //p' $?

## targets : print a list of all valid target platforms (for consumption by scripts)

targets:

@echo "Valid targets: $(BASE_TARGETS)"

@echo "Built targets: $(CI_TARGETS)"

@echo "Default target: $(TARGET)"

targets-ci-print:

@echo $(CI_TARGETS)

## target-mcu : print the MCU type of the target

target-mcu:

@echo "$(TARGET_MCU_FAMILY) : $(TARGET_MCU)"

## targets-by-mcu : make all targets that have a MCU_TYPE mcu

targets-by-mcu:

$(V1) for target in $${TARGETS}; do \

TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \

if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \

if [ "$${DO_BUILD}" = 1 ]; then \

echo "Building target $${target}..."; \

$(MAKE) TARGET=$${target}; \

if [ $$? -ne 0 ]; then \

echo "Building target $${target} failed, aborting."; \

exit 1; \

fi; \

else \

echo -n "$${target} "; \

fi; \

fi; \

done

@echo

## test : run the Betaflight test suite

## junittest : run the Betaflight test suite, producing Junit XML result files.

## test-representative: run a representative subset of the Betaflight test suite (i.e. run all tests, but run each expanded test only for one target)

## test-all: run the Betaflight test suite including all per-target expanded tests

test junittest test-all test-representative:

$(V0) cd src/test && $(MAKE) $@

## test_help : print the help message for the test suite (including a list of the available tests)

test_help:

$(V0) cd src/test && $(MAKE) help

## test_versions : print the compiler versions used for the test suite

test_versions:

$(V0) cd src/test && $(MAKE) versions

## test_% : run test 'test_%' from the test suite

test_%:

$(V0) cd src/test && $(MAKE) $@

$(TARGET_EF_HASH_FILE):

$(V1) mkdir -p $(dir $@)

$(V1) rm -f $(TARGET_OBJ_DIR)/.efhash_*

@echo "EF HASH -> $(TARGET_EF_HASH_FILE)"

$(V1) touch $(TARGET_EF_HASH_FILE)

# rebuild everything when makefile changes or the extra flags have changed

$(TARGET_OBJS): $(TARGET_EF_HASH_FILE) Makefile $(TARGET_DIR)/target.mk $(wildcard make/*) $(CONFIG_FILE)

# include auto-generated dependencies

-include $(TARGET_DEPS)